diff --git a/Assets/Scenes/Development/CharacterControllerTest.unity b/Assets/Scenes/Development/CharacterControllerTest.unity
index e027715..0de0bad 100644
--- a/Assets/Scenes/Development/CharacterControllerTest.unity
+++ b/Assets/Scenes/Development/CharacterControllerTest.unity
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c3bc2d1abea8dfa233734dc9da271423c8ef68087f4aac8b2952baee7b8ba5ff
-size 17564
+oid sha256:6e0cc9fb1eb2caf55429823d267246cb81ddc50428e94e872162198b0dac52e9
+size 19170
diff --git a/Assets/Scripts/Player/HandController.cs b/Assets/Scripts/Player/HandController.cs
index 379ce18..7f9ef2c 100644
--- a/Assets/Scripts/Player/HandController.cs
+++ b/Assets/Scripts/Player/HandController.cs
@@ -16,7 +16,10 @@ public class HandController : MonoBehaviour
     [SerializeField, BoxGroup("References")]
     private Transform m_handTransform;
 
-    [SerializeField]
+    [SerializeField, BoxGroup("References")]
+    private OarController m_oar;
+
+    [SerializeField,BoxGroup("settings")]
     private Transform m_otherHand;
 
     [SerializeField, BoxGroup("Settings")]
@@ -27,9 +30,12 @@ public class HandController : MonoBehaviour
     [SerializeField, BoxGroup("Settings")]
     private float m_armRange = 1;
 
-    [SerializeField, BoxGroup("Settings"),Range(0.0f,1.0f)]
+    [SerializeField, BoxGroup("Settings"), Range(0.0f, 1.0f)]
     private float m_armSpeed = 0.5f;
 
+    [SerializeField, BoxGroup("Settings")]
+    private Vector2 m_startInput = new Vector2(0, 1); 
+
     [SerializeField, BoxGroup("Input")]
     private InputActionProperty m_inputAxis;
 
@@ -47,6 +53,7 @@ public class HandController : MonoBehaviour
     private Vector3 m_startPosition;
     private Vector3 m_lastPosition;
 
+    private bool m_doUndo;
     #endregion Private Fields
 
     #region Getters
@@ -59,7 +66,8 @@ public class HandController : MonoBehaviour
 
     private void Start()
     {
-        m_startPosition = transform.localPosition;   
+        m_startPosition = transform.localPosition;
+        UpdateHand(m_startInput);
     }
 
     /// <summary>
@@ -95,20 +103,21 @@ public class HandController : MonoBehaviour
     #endregion MonoBehaviour Functions
 
     #region Class Functionality
-    
+
     /// <summary>
     /// Called every fixed update to move the arms
     /// </summary>
     /// <param name="input"></param>
-    private void UpdateHand(Vector2 input)
+    private void UpdateHand(Vector2 input, bool registerUndo = true)
     {
 
         m_lastPosition = transform.localPosition;
 
+
+
         Quaternion rotation = Quaternion.LookRotation(m_axisForward.normalized, m_axisNormal.normalized);
         Vector3 axisInput = transform.rotation * rotation * new Vector3(input.x, 0, input.y);
 
-
         Vector3 desiredPosition = m_startPosition + axisInput * m_armRange;
         transform.localPosition = Vector3.Lerp(transform.localPosition, desiredPosition, m_armSpeed);
 
@@ -120,13 +129,15 @@ public class HandController : MonoBehaviour
             }
         }
 
-       
 
     }
 
     public void UndoLastMovement()
     {
-        transform.localPosition = m_lastPosition;
+        Vector3 direction = m_lastPosition - transform.localPosition;
+
+        transform.localPosition += direction;
+
     }
 
 
@@ -136,8 +147,8 @@ public class HandController : MonoBehaviour
     /// <param name="args"></param>
     private void OnInputRecieved(InputAction.CallbackContext args)
     {
-        
-        m_desiredInput =  args.ReadValue<Vector2>();
+
+        m_desiredInput = args.ReadValue<Vector2>();
     }
 
 
@@ -150,7 +161,7 @@ public class HandController : MonoBehaviour
     private void Reset()
     {
         m_handTransform = base.transform;
-    } 
+    }
     #endregion Editor Functions
 
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Player/OarController.cs b/Assets/Scripts/Player/OarController.cs
index 9a88996..6d4d589 100644
--- a/Assets/Scripts/Player/OarController.cs
+++ b/Assets/Scripts/Player/OarController.cs
@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
 using NaughtyAttributes;
+using TMPro;
 
 
 /// <summary>
@@ -25,6 +26,9 @@ public class OarController : MonoBehaviour
     [SerializeField, BoxGroup("References")]
     private Transform m_body;
 
+    [SerializeField]
+    private BoxCollider m_boxCollider;
+
     [SerializeField]
     private List<Collider> m_forbiddenColliders;
 
@@ -50,6 +54,7 @@ public class OarController : MonoBehaviour
 
     private void Awake()
     {
+        m_boxCollider.enabled= false;
         m_distanceFromRightHand = Vector3.Distance(m_rightHand.transform.position, transform.position);
         m_oarRigidbody = GetComponent<Rigidbody>();
     }
@@ -90,8 +95,41 @@ public class OarController : MonoBehaviour
         Vector3 forward = Vector3.Cross(direction, m_body.forward);
         Quaternion rotation = Quaternion.LookRotation(forward, direction);
 
-        m_oarRigidbody.MovePosition(m_rightHand.transform.position - direction * m_distanceFromRightHand);
-        m_oarRigidbody.MoveRotation(rotation);
+
+        MoveOarToPosition(m_rightHand.transform.position - direction * m_distanceFromRightHand);
+        //m_oarRigidbody.MoveRotation(rotation);
+        //m_oarRigidbody.MovePosition(m_rightHand.transform.position - direction * m_distanceFromRightHand);
+        MoveOarToRotation(rotation);
+
+
+    }
+
+
+    private void MoveOarToPosition(Vector3 position)
+    {
+        m_oarRigidbody.velocity = (position - transform.position) * (1 / Time.fixedDeltaTime);
+    }
+
+    private void MoveOarToRotation(Quaternion rotation)
+    {
+        Quaternion difference = rotation * Quaternion.Inverse(transform.rotation); 
+        m_oarRigidbody.angularVelocity = (rotation.eulerAngles * Time.fixedDeltaTime);
+    }
+
+
+    public bool isColliding()
+    {
+        Vector3 direction = (m_rightHand.transform.position - m_leftHand.transform.position).normalized;
+        Vector3 forward = Vector3.Cross(direction, m_body.forward);
+        Quaternion rotation = Quaternion.LookRotation(forward, direction);
+
+        Collider[] col = Physics.OverlapBox(transform.position + m_boxCollider.center, m_boxCollider.size / 2, rotation);
+        if (col.Intersect(m_forbiddenColliders).Any())
+        {
+            Debug.Log($"Colliding with:   {string.Join(", ", col.Intersect(m_forbiddenColliders))}");
+            return true;
+        }
+        return false;
 
 
     }
diff --git a/Assets/Scripts/Player/OarController.cs.meta b/Assets/Scripts/Player/OarController.cs.meta
index c9338dd..5996629 100644
--- a/Assets/Scripts/Player/OarController.cs.meta
+++ b/Assets/Scripts/Player/OarController.cs.meta
@@ -4,7 +4,7 @@ MonoImporter:
   externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
-  executionOrder: 0
+  executionOrder: 100
   icon: {instanceID: 0}
   userData: 
   assetBundleName: 
diff --git a/Assets/Scripts/Player/RowController.cs b/Assets/Scripts/Player/RowController.cs
index 245567f..61a897d 100644
--- a/Assets/Scripts/Player/RowController.cs
+++ b/Assets/Scripts/Player/RowController.cs
@@ -29,7 +29,7 @@ public class RowController : MonoBehaviour
     #endregion Inspector Fields
 
     #region Private Fields
-
+  
     #endregion Private Fields
 
     #region Getters
diff --git a/ProjectSettings/TagManager.asset b/ProjectSettings/TagManager.asset
index 4b69f59..0c8c80b 100644
--- a/ProjectSettings/TagManager.asset
+++ b/ProjectSettings/TagManager.asset
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8e18b1c820e9c09e16bbd1f1b7842e9fb3b0158a0921b0964e0b8fa12c6e2c01
-size 378
+oid sha256:28529725e71fa58fdb2277e07306508472f8b936b0c5a6b386c90f1f4d415453
+size 390